Robot system, the robot control control equipment and the robot which possesses

摘要

PROBLEM TO BE SOLVED: To restore an image which is not deteriorated, from a PSF reflected on a deteriorated image, and to position a robot.;SOLUTION: A robot system 5 is provided with: a robot 10 having an arm 17; a flickering reference mark 150 arranged in the vicinity of a work 130 to which the arm 17 is moved; a digital camera 20 installed on the arm 17 to output the deteriorated recorded image which has the work 130 and the reference mark 150 recorded together, and has the reference mark 150 recorded as a luminescent spot line due to a recording operation during a movement, a luminescent spot line extracting part 104 for extracting the luminescent spot line from the recorded image; an image restoring part 106 for converting the image by using a PSF while designating a line segment obtained by interpolating the luminescent spot line as the PSF to restore the image which is not deteriorated from the deteriorated image; a position calculating part 110 for calculating the position of the work 130 from the restored image; and a robot operation control part 115 for controlling the arm 17 to move in accordance with the calculated position.;COPYRIGHT: (C)2010,JPO&INPIT